PhyBallAndSocket Class Reference

PhyBallAndSocket class. More...

Inheritance diagram for PhyBallAndSocket:

Public Member Functions
	PhyBallAndSocket (const wVector &centre, PhyObject *parent, PhyObject *child, bool cp=true)
	Constructor.
virtual wVector	centre () const
	Return the centre of this joint in world coordinate.
virtual wVector	getForceOnJoint () const
	Returns the force applied to this joint.
virtual void	updateJointInfo ()
	Update the Joint informations (each PhyDOF will be updated)
Public Member Functions inherited from PhyJoint
	PhyJoint (PhyObject *parent, PhyObject *child)
	Constructor.
virtual	~PhyJoint ()
	Destructor.
virtual PhyObject *	child ()
	Return the child object attached to this joint (see Newton Documentation)
virtual const PhyObject *	child () const
	Return the child object attached to this joint (see Newton Documentation) (const version)
virtual QVector< PhyDOF * >	dofs ()
	Return descriptions of DOF.
void	enable (bool b)
	enable/disable the joint
bool	isEnabled () const
	Return true if the joint is enabled.
virtual unsigned int	numDofs () const
	Return the number of DOF constrained by this joint.
virtual PhyObject *	parent ()
	Return the parent object; (NULL means an object attached to static world; see Netwon Documentation)
virtual const PhyObject *	parent () const
	Return the parent object; (NULL means an object attached to static world; see Netwon Documentation) (const version)
virtual void	postUpdate ()
	postUpdate the PhyJoint this method is called at each step of the world just after the physic update
virtual void	preUpdate ()
	preUpdate the PhyJoint this method is called at each step of the world just before the physic update
World *	world ()
	Return the World.
const World *	world () const
	Return the World (const version)
Public Member Functions inherited from Ownable
	Ownable ()
	Constructor.
virtual	~Ownable ()
	Destructor.
const QList< Owned > &	owned () const
	Returns the list of objects owned by this one.
Ownable *	owner () const
	Returns the owner of this object.
void	setOwner (Ownable *owner, bool destroy=true)
	Sets the owner of this object.

Protected Member Functions
void	createPrivateJoint ()
	Engine encapsulation.
virtual void	updateJoint (real timestep)

Protected Attributes
wVector	forceOnJoint
	The force applied to this joint.
wMatrix	globalMatrixChild
	Global Matrix respect to Child.
wMatrix	globalMatrixParent
	Global Matrix respect to Parent.
wMatrix	localMatrixChild
	Local frame of the joint respect to the child matrix.
wMatrix	localMatrixParent
	Local frame of the joint respect to the parent matrix.
Protected Attributes inherited from PhyJoint
PhyObjectPrivate *	childpriv
PhyObject *	childv
	child object
QVector< PhyDOF * >	dofsv
	vector of DOF's joint
int	dofv
	number of DOF
bool	enabled
	true if is enabled, false otherwise
PhyObjectPrivate *	parentpriv
PhyObject *	parentv
	parent object
PhyJointPrivate *	priv
	Engine encapsulation.
WorldPrivate *	worldpriv
World *	worldv
	world

Additional Inherited Members
Public Types inherited from Ownable
typedef QList< Owned >	OwnedList
	The type for the list of owned objects.

Detailed Description

PhyBallAndSocket class.

A joint implementing the Ball-and-Socket joint

Definition at line 37 of file phyballandsocket.h.

Constructor & Destructor Documentation

PhyBallAndSocket	(	const wVector &	centre,
		PhyObject *	parent,
		PhyObject *	child,
		bool	cp = true
	)

Constructor.

Parameters

centre

is the centre of the Ball-and-Socket joint respect to the parent reference frame

Definition at line 27 of file phyballandsocket.cpp.

References PhyBallAndSocket::centre(), PhyBallAndSocket::createPrivateJoint(), PhyJoint::dofv, PhyBallAndSocket::forceOnJoint, PhyBallAndSocket::globalMatrixParent, wMatrix::inverse(), PhyBallAndSocket::localMatrixChild, PhyBallAndSocket::localMatrixParent, WObject::matrix(), wMatrix::sanitifize(), wMatrix::sanityCheck(), wVectorT< false >::X(), wVectorT< false >::Y(), and wVectorT< false >::Z().

Member Function Documentation

wVector centre ( ) const

virtual

Return the centre of this joint in world coordinate.

Implements PhyJoint.

Definition at line 59 of file phyballandsocket.cpp.

References PhyBallAndSocket::globalMatrixParent, PhyBallAndSocket::localMatrixParent, WObject::matrix(), and PhyJoint::parent().

Referenced by PhyBallAndSocket::PhyBallAndSocket().

void createPrivateJoint ( )

protected

Engine encapsulation.

Definition at line 72 of file phyballandsocket.cpp.

References PhyJoint::priv.

Referenced by PhyBallAndSocket::PhyBallAndSocket().

wVector getForceOnJoint ( ) const

virtual

Returns the force applied to this joint.

Implements PhyJoint.

Definition at line 67 of file phyballandsocket.cpp.

References PhyBallAndSocket::forceOnJoint.

void updateJointInfo ( )

virtual

Update the Joint informations (each PhyDOF will be updated)

Implements PhyJoint.

Definition at line 79 of file phyballandsocket.cpp.

References PhyJoint::child(), PhyBallAndSocket::globalMatrixChild, PhyBallAndSocket::globalMatrixParent, PhyBallAndSocket::localMatrixChild, PhyBallAndSocket::localMatrixParent, WObject::matrix(), PhyJoint::parent(), and wMatrix::sanityCheck().

Member Data Documentation

wVector forceOnJoint

protected

The force applied to this joint.

Definition at line 78 of file phyballandsocket.h.

Referenced by PhyBallAndSocket::getForceOnJoint(), and PhyBallAndSocket::PhyBallAndSocket().

wMatrix globalMatrixChild

protected

Global Matrix respect to Child.

This represent the local frame of joint in global coordinate starting from localMatrixParent representation.

Definition at line 74 of file phyballandsocket.h.

Referenced by PhyBallAndSocket::updateJointInfo().

wMatrix globalMatrixParent

mutableprotected

Global Matrix respect to Parent.

This represent the local frame of joint in global coordinate starting from localMatrixParent representation.

Note: The differences between globalMatrixParent and globalMatrixChild are due to numerical error on joint solver of physic engine used.

Definition at line 68 of file phyballandsocket.h.

Referenced by PhyBallAndSocket::centre(), PhyBallAndSocket::PhyBallAndSocket(), and PhyBallAndSocket::updateJointInfo().

wMatrix localMatrixChild

protected

Local frame of the joint respect to the child matrix.

Definition at line 58 of file phyballandsocket.h.

Referenced by PhyBallAndSocket::PhyBallAndSocket(), and PhyBallAndSocket::updateJointInfo().

wMatrix localMatrixParent

protected

Local frame of the joint respect to the parent matrix.

Definition at line 56 of file phyballandsocket.h.

Referenced by PhyBallAndSocket::centre(), PhyBallAndSocket::PhyBallAndSocket(), and PhyBallAndSocket::updateJointInfo().

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The documentation for this class was generated from the following files:

• worldsim/include/phyballandsocket.h
• worldsim/src/phyballandsocket.cpp